AN AUGMENTED STATE VECTOR APPROACH TO GPS-BASED LOCALIZATION

Francesco Capezio, Antonio Sgorbissa, Renato Zaccaria

Abstract

The ANSER project (Airport Night Surveillance Expert Robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. The paper focuses on the localization subsystem of the patrolling robot, composed of a non-differential GPS unit and a laser rangefinder for map-based localization (inertial sensors are absent). Moreover, it shows that an augmented state vector approach and an Extended Kalman filter can be successfully employed to estimate the colored components in GPS noise, thus getting closer to the conditions for the EKF to be applicable.

References

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Paper Citation


in Harvard Style

Capezio F., Sgorbissa A. and Zaccaria R. (2007). AN AUGMENTED STATE VECTOR APPROACH TO GPS-BASED LOCALIZATION . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 252-258. DOI: 10.5220/0001626302520258


in Bibtex Style

@conference{icinco07,
author={Francesco Capezio and Antonio Sgorbissa and Renato Zaccaria},
title={AN AUGMENTED STATE VECTOR APPROACH TO GPS-BASED LOCALIZATION},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={252-258},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001626302520258},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - AN AUGMENTED STATE VECTOR APPROACH TO GPS-BASED LOCALIZATION
SN - 978-972-8865-83-2
AU - Capezio F.
AU - Sgorbissa A.
AU - Zaccaria R.
PY - 2007
SP - 252
EP - 258
DO - 10.5220/0001626302520258